CN115803069A - Blood treatment systems and related components and methods - Google Patents

Abstract

The present disclosure relates to a blood treatment system comprising a blood treatment machine, a dialyzer configured to be coupled to the blood treatment machine, having a first end configured to be connected to the dialyzer and a A blood line connected to a second end of a needle for insertion into a patient and one or more sensors operable to transmit data related to tension along the blood line to the blood treatment machine. The blood treatment machine is configured to take action in response to data received from the one or more sensors.

Description

Blood therapy system and related components and methods

technical field

The present disclosure relates to blood therapy systems and related components and methods.

Background technique

Hemodialysis is a treatment used to support patients with renal insufficiency. During hemodialysis, the patient's blood is passed through the dialyzer of the dialysis machine, and the dialysis solution, or dialysate, is also passed through the dialyzer. A dialyzer includes a housing and a semipermeable membrane contained within the housing of the dialyzer. The semipermeable membrane separates the blood from the dialysate within the dialyzer and allows diffusion and osmotic exchange between the dialysate and the blood stream. Arterial blood lines are usually connected to the dialyzer at one end and the patient at the opposite end to carry blood from the patient to the dialyzer during hemodialysis. Venous blood lines are usually connected to the dialyzer at one end and the patient at the opposite end to carry filtered blood from the dialyzer back to the patient during hemodialysis.

Contents of the invention

In one aspect, a blood treatment system comprising: a blood treatment machine; a dialyzer configured to be coupled to the blood treatment machine; a blood line having a first end configured to be connected to the dialyzer and a second end configured to be connected to a needle for insertion into a patient; and one or more sensors operable to transmit data related to tension along the blood line to the blood treatment machine . The blood treatment machine is configured to take action in response to data received from the one or more sensors.

Embodiments can include one or more of the following features in any combination.

In certain embodiments, the blood therapy machine includes: a therapy module including structure for coupling with a dialyzer; a blood therapy machine console configured to control the therapy module; and an arm coupled to the A treatment module and the blood treatment machine console extend between the treatment module and the blood treatment machine console. the blood treatment machine console is configured to control movement of the arm to automatically reposition the treatment module in response to data received from the one or more sensors,

In some embodiments, the arm is configured to move the therapy module in a direction determined based on data relating to tension along the blood line to prevent disconnection of the blood line from the dialyzer or The needle is removed from the patient.

In some embodiments, the one or more sensors are configured to wirelessly transmit data related to tension along the blood line to the blood treatment machine console.

In some embodiments, the arm includes one or more adjustable joints by which the arm can be articulated to a plurality of different positions relative to the blood treatment machine console. In some embodiments, the arm is configured to be manually articulated to a plurality of different positions relative to the blood treatment machine console.

In some embodiments, the one or more sensors are configured to detect strain along the blood line.

In some embodiments, the one or more sensors are attached to a therapy module of the blood therapy machine, and each of the one or more sensors is in contact with the blood line.

In some embodiments, at least one sensor of the one or more sensors is coupled to the therapy module.

In some embodiments, at least one sensor of the one or more sensors is positioned along the blood line proximate to the patient end of the blood line.

In some embodiments, the one or more sensors are embedded within the blood line.

In certain embodiments, at least one of the one or more sensors is coupled to a joint of an arm extending from and coupled to a treatment module of the blood treatment machine.

In some embodiments, the one or more sensors are configured to detect a position of a portion of the blood line.

In some embodiments, the one or more sensors include one or more accelerometers coupled to the blood line.

In some embodiments, the one or more sensors include one or more image sensors configured to detect the position of the portion of the blood line.

In some embodiments, the one or more sensors are configured to detect a position of a patient connected to the blood line.

In some embodiments, the one or more sensors include an image sensor configured to detect light reflected by the reflective material.

In certain embodiments, the blood treatment system further includes a device comprising a reflective material configured to be positioned on an arm of a patient proximate to the blood line.

In some embodiments, the one or more sensors include an image sensor configured to track movement of the patient's arm.

In another aspect, a blood therapy machine comprising: a therapy module including structure for coupling with a dialyzer; a blood therapy machine console configured to control the therapy module; and an arm coupled to the A treatment module and the blood treatment machine console extend between the treatment module and the blood treatment machine console. The blood treatment machine console is configured to control movement of the arm to automatically reposition the arm in response to data received from one or more sensors relating to tension along a blood line coupled to the dialyzer. treatment module.

Embodiments can include one or more of the following features in any combination.

In some embodiments, the arm includes one or more adjustable joints by which the arm can be articulated to a plurality of different positions relative to the blood treatment machine console.

In some embodiments, the arm is configured to be manually articulated to a plurality of different positions relative to the blood treatment machine console.

In some embodiments, the data received from the one or more sensors includes data related to tension along a blood line coupled to the dialyzer and a needle inserted into the patient.

In some embodiments, the arm is configured to move the therapy module in a direction determined based on data related to tension along the blood line to prevent disconnection of the blood line from the dialyzer. open or the needle is removed from the patient.

In some embodiments, the data received from the one or more sensors includes data related to strain along the blood line.

In some embodiments, the data received from the one or more sensors includes data related to the position of a portion of a blood line coupled to the dialyzer.

In some embodiments, the data received from the one or more sensors includes image data related to the position of the portion of the blood line.

In certain embodiments, the data received from the one or more sensors includes data related to the location of a patient connected to a blood line coupled to the dialyzer.

In some embodiments, the data received from the one or more sensors includes image data indicative of light reflected by the reflective material.

In some embodiments, the data received from the one or more sensors includes image data indicative of a position of the patient's arm.

In another aspect, an apparatus includes one or more sensors configured to detect and transmit data related to tension along a blood line coupled to a dialyzer.

Embodiments can include one or more of the following features in any combination.

In some embodiments, the one or more sensors are configured to detect strain along the blood line.

In some embodiments, each of the one or more sensors is in contact with the blood line.

In some embodiments, at least one sensor of the one or more sensors is positioned to contact a portion of the blood line proximate the patient end of the blood line.

In some embodiments, at least one sensor of the one or more sensors is coupled to a therapy module coupled to the dialyzer.

In some embodiments, the one or more sensors are embedded within the blood line.

In some embodiments, the one or more sensors are configured to detect strain along the blood line in three dimensions.

In some embodiments, the one or more sensors are configured to detect a three-dimensional position of a portion of the blood line.

In some embodiments, the one or more sensors include one or more accelerometers coupled to the blood line.

In some embodiments, the one or more sensors are configured to detect a position of a patient connected to the blood line.

In certain embodiments, the one or more sensors include an image sensor configured to detect light reflected by reflective material positioned on the patient's arm proximate to the blood line.

In some embodiments, the one or more sensors include an accelerometer coupled to the patient's arm.

In some embodiments, the one or more sensors use near field communication to transmit a signal indicative of the position of the patient's arm.

In some embodiments, the one or more sensors include an image sensor configured to track movement of the patient's arm.

In another aspect, a method comprising: receiving a signal from one or more sensors indicative of a status of a blood line having a first end connected to a dialyzer and a second end connected to a needle inserted into a patient; and based on the The signal moves a blood therapy module coupled to the dialyzer to prevent disconnection of the blood line from the dialyzer or removal of the needle from the patient.

Embodiments can include one or more of the following features in any combination.

In some embodiments, moving the blood treatment module includes controlling a robotic arm coupled to the blood treatment module to reposition the blood treatment module.

In some embodiments, moving the blood therapy module includes extending the robotic arm toward the patient to create slack in the blood line.

In some embodiments, moving the blood therapy module includes moving the blood therapy module in a direction that reduces tension in the blood line.

In some embodiments, moving the blood treatment module includes moving the blood treatment module in three dimensions.

In some embodiments, moving the blood treatment module includes moving the blood treatment module at a speed determined based on a signal indicative of a status of the blood line.

In some embodiments, the signal is indicative of strain along the blood line.

In some embodiments, the method further comprises, after receiving the signal indicative of strain along the blood line and before moving the blood therapy module, receiving a second signal indicative of a decrease in strain in the blood line; and in response to receiving In response to the second signal, a blood pump fluidly coupled to the blood line is controlled to stop pumping.

In some embodiments, the method further comprises, in response to receiving the second signal, transmitting an alarm indicating disconnection of the blood line or removal of the needle.

In some embodiments, the method further comprises: after moving the blood therapy module, receiving a second signal indicative of a change in strain in the blood line below a threshold amount; and in response to receiving the second signal, transmitting an indication Alarm of obstruction in the blood line.

In some embodiments, the signal is indicative of a strain in the blood line above a threshold strain.

In some embodiments, the signal is indicative of the position of the patient's arm connected to the blood line.

In some embodiments, moving the blood therapy module includes moving the blood therapy module toward the detection location of the patient's arm.

In some embodiments, wherein the signal is indicative of the position of the patient end of the blood line.

In some embodiments, moving the blood therapy module includes moving the blood therapy module toward a detection position of the patient end of the blood line.

In some embodiments, the method further includes receiving a signal indicating completion of the dialysis treatment; and moving the blood treatment module to a predetermined position in response to receiving the signal indicating completion of the dialysis treatment.

Advantages of the systems, devices, and methods described herein may include reducing the risk of blood line disconnection from the dialyzer of a blood treatment machine during hemodialysis treatment. Additionally, the systems, devices, and methods described herein can reduce the risk of a needle connected to a blood line being dislodged from a patient during treatment. For example, during hemodialysis treatment, by using sensors to detect strain in one or more blood lines attached to the patient and the dialyzer, the position of a therapy module coupled to the dialyzer can be dynamically adjusted to reduce the tension of the blood line, which reduces the risk of the blood line becoming disconnected from the dialyzer and/or the needle being dislodged from the patient. Furthermore, by using a sensor system to detect strain in the blood line, and using an operable robotic arm to dynamically adjust the position of the therapy module in response to the detected strain, compared to the blood line used in conventional blood therapy systems , the blood line can be very short. This reduction in blood line length reduces the cost of the blood line and reduces the volume of blood outside the patient's body, which provides improved control of the patient's blood pressure and reduces the risk of complications associated with reduced blood volume. Furthermore, by enabling the use of shorter blood lines, the systems and methods described herein reduce the risk of obstruction along the blood line, which further reduces the risk of needle removal from the patient or disconnection of the blood line from the dialyzer.

Other aspects, features, and advantages of the invention will be apparent from the description and drawings, and from the claims.

Description of drawings

Figure 1 depicts a patient receiving extracorporeal blood therapy using a blood therapy system.

FIG. 2 is a schematic diagram of a dialyzer of the blood treatment system of FIG. 1 .

3-9 depict a patient receiving extracorporeal blood therapy using an alternative blood therapy system.

Detailed ways

Referring to FIG. 1 , a patient 10 is depicted receiving extracorporeal blood treatment using a blood treatment system 1 comprising a disposable kit connected to a blood treatment machine 200 . The disposable set includes the dialyzer 100 coupled to a therapy module 220 of a blood therapy machine 200 . System 1 may be used to provide one or more types of therapy to patient 10, including hemodialysis (HD), hemodiafiltration (HDF), or some other type of blood therapy. For such treatment, blood is drawn from the patient 10 via the arterial line 102 , and after passing through the dialyzer 100 , the treated blood is returned to the patient 10 via the venous line 104 . Patient 10 is connected to arterial line 102 and venous line 104 using needles 134 and 136, respectively. While the dialyzer 100, arterial line 102, venous line 104, and needles 134, 136 are single-use disposables, the blood therapy machine 200 is a durable reusable system. In some cases, a single dialyzer 100 can be reused two or more times for a particular individual patient.

In addition to the treatment module 220 , the blood treatment machine 200 includes a blood treatment machine console 210 and an arm 280 connecting the treatment module 220 to the blood treatment machine console 210 . Blood therapy machine 200 can be used in outpatient treatment centers and in home settings. The blood therapy machine console 210 includes a user interface 212, a control system, equipment for preparing dialysate, and the like.

A first end of arm 280 of blood treatment machine 200 is coupled to and extends from blood treatment machine console 210 , and a second end of arm 280 is coupled to treatment module 220 . As such, the treatment module 220 is cantilevered from the blood treatment machine console 210 by the arm 280 . Arm 280 is coupled to blood treatment machine console 210 and treatment module 220 using any suitable mechanical fasteners, including but not limited to screws and bolts.

Arm 280 includes one or more adjustable joints that enable arm 280 to be manually articulated to position therapy module 220 in various positions/orientations relative to blood treatment machine console 210 and/or relative to patient 10 . For example (as shown in FIG. 1 ), arm 280 may be extended such that therapy module 220 is positioned proximate to patient 10 . In some cases, adjustable joints of arms 280 enable movement in three dimensions such that arms 280 can be extended and retracted, as well as move therapy block 220 up and down and side to side. In this way, the arm 280 is fully articulated with three degrees of freedom. Thus, arterial line 102 and venous line 104 (also referred to as blood lines 102, 104) can be relatively short compared to the blood lines used by most conventional blood treatment systems. For example, in some embodiments, arterial line 102 and venous line 104 have a length of less than one meter (e.g., less than 90 cm, less than 80 cm, less than 70 cm, less than 60 cm, less than 50 cm, less than 40 cm, less than 30 cm, or less than 20 cm).

In some embodiments, the arm 280 is configured to allow the therapy module 220 to tilt up or down on the end of the arm 280 . For example, treatment module 220 may be angled about the end of arm 280 to allow an operator of blood treatment machine 200 to better use treatment module 220 .

As shown in FIG. 1 , the blood treatment system 1 further includes an arterial line sensor 226 and a venous line sensor 228 . Sensors 226 , 228 are each positioned on and electrically coupled to therapy module 220 . As shown in FIG. 1 , arterial line sensor 226 is coupled to therapy module 220 and positioned on therapy module 220 such that arterial line sensor 226 is in physical contact with arterial line 102 when arterial line 102 is connected to dialyzer 100 . Similarly, venous line sensor 228 is coupled to therapy module 220 and positioned on therapy module 220 such that venous line sensor 228 is in physical contact with venous line 104 when venous line 104 is connected to dialyzer 100 .

Arterial line sensor 226 and venous line sensor 228 are each configured to detect tension along the respective blood line 102 , 104 . For example, when arterial line 102 is in contact with arterial line sensor 226, arterial line sensor 226 detects strain along arterial line 102, and when venous line 104 is in contact with venous line sensor 228, venous line sensor 228 detects strain along venous line 104. strain. Sensors 226, 228 may include any suitable type of sensor for detecting strain, including but not limited to strain gauges, resistors, load cells, and the like.

Strain detected by sensors 226 , 228 along arterial line 102 and venous line 104 may be transmitted by sensors 226 , 228 to blood treatment machine console 210 . For example, sensors 226, 228 may be wired to therapy module 220 to communicate a signal indicative of the detected strain to therapy module 220, which may be wired to blood therapy machine console 210 or otherwise communicate with the blood therapy machine Console 210 is communicatively coupled and may transmit signals received from sensors 226 , 228 to blood treatment machine console 210 . In some embodiments, the sensors 226 , 228 are wired directly to the blood treatment machine console 210 to communicate a signal indicative of the detected strain to the blood treatment machine console 210 . In some embodiments, for example, the sensors 226, 228 are wireless sensors configured to wirelessly communicate signals indicative of detected strain to the blood therapy machine console 210 (eg, via Bluetooth or WiFi). As will be described in further detail herein, blood therapy machine console 210 may control arm 280 to reposition therapy module 220 in a position that reduces the strain detected by sensors 226 , 228 along blood lines 102 , 104 .

FIG. 2 is a schematic diagram of a dialyzer 100 . As shown in FIG. 2 , the housing 110 of the dialyzer 100 includes a first end cap 120 , a second end cap 140 , and an intermediate housing portion 112 extending between the first end cap 120 and the second end cap 140 . The middle housing portion 112 contains the majority of the length of the hollow fiber bundle 114 . As shown in FIG. 1 , the arterial line 102 is connected to a first end cap 120 of the dialyzer 100 and the venous line 104 is connected to a second end cap 140 of the dialyzer 100 .

Still referring to FIG. 2 , the first end cover 120 includes a pump housing 130 . A rotatable centrifugal pump rotor 132 is enclosed or enclosed within the pump housing 130 . Thus, the pump rotor 132 is contained in a fixed position relative to the hollow fiber bundle 114 . The pump rotor 132 is operated and controlled by interfacing with a controller 240 of the blood therapy machine 200 . That is, the pump rotor 132 may levitate and rotate by a magnetic field emitted from the pump driving unit during use. The depicted embodiment includes an arterial pressure sensing chamber 122 and a venous pressure sensing chamber 142 . Both pressure sensing chambers 122 and 142 are configured to interface with respective pressure sensors of therapy module 220 .

Dialyzer 100 is configured to receive blood from a patient 10 and to direct the blood through a housing 110 of dialyzer 100 . For example, blood flows into the first end cap 120 via the arterial line 102 (shown in FIG. 1 ). The fluid flow path into the first end cap 120 is transverse to the longitudinal axis of the dialyzer 100 . The blood flow path transitions parallel to the longitudinal axis of the dialyzer 100 to deliver blood to the pump rotor 132 . Blood is directed to the center of the pump rotor 132 . Rotation of centrifugal pump rotor 132 forces blood to flow radially outward from pump rotor 132 . Then, after flowing radially outward from the pump rotor 132 , the blood turns and flows longitudinally towards the intermediate housing portion 112 . Blood enters the lumen of the hollow fiber bundle 114 and continues to flow longitudinally toward the second end cap 140 . After passing through the intermediate housing portion 112 , the blood exits the hollow fiber bundle 114 , enters the second end cap 140 , and exits the second end cap 140 laterally via the intravenous line 104 .

Dialyzer 100 is also configured to receive dialysate and direct the dialysate through housing 110 . For example, in the depicted embodiment, second end cap 140 defines dialysate input port 149 and first end cap 120 defines dialysate output port 125 . Dialysate flows into the second end cap 140 via the dialysate input port 149 and then into the middle housing portion 112 containing the hollow fiber bundles 114 . Dialysate flows through the intermediate housing portion 112 via the spaces defined between the outer diameters of the fibers of the hollow fiber bundle 114 . As blood flows within the lumens of the fibers of the hollow fiber bundle 114, the dialysis fluid flows along the exterior of the fibers. The semipermeable walls of the fibers of the hollow fiber bundle 114 separate the dialysis fluid from the blood. Dialysis fluid exits the middle housing portion 112 and flows into the first end cap 120 . Dialysis fluid exits the first end cap 120 via the dialysate output port 125 . Certain other features of the dialyzer 100 and blood treatment system 1 depicted in FIG. 2 are described in further detail in U.S. Provisional Patent Application No. 62/934,228, filed November 12, 2019, entitled "Blood Treatment Systems," This application is hereby incorporated by reference in its entirety.

Referring to Figures 1 and 2, a method of performing hemodialysis using the blood treatment system 1 will now be described.

The dialyzer 100 is attached to the control module 220 and one end of each of the blood lines 102 , 104 is attached to the dialyzer 100 before hemodialysis treatment begins. The opposite ends of the blood lines 102 , 104 are attached to the patient 10 using needles 134 , 136 . Once the dialyzer 100 is connected to the therapy module 220 and the blood lines 102, 104 are attached to both the dialyzer 100 and the patient 10 (via connections to the needles 134, 136), hemodialysis therapy can be initiated. Patient 10 or another operator of blood treatment machine 200 may initiate a hemodialysis treatment, eg, using user interface 212 of blood treatment machine console 210 .

During a hemodialysis treatment, the dialyzer's pump rotor 132 is driven such that blood in the arterial line 102 is drawn from the patient 10 , channeled through the dialyzer 100 , and returned to the patient 10 through the venous line 104 . For example, when a hemodialysis treatment is initiated, blood flows from the patient 10 through the arterial line 102 into the first end cap 120 of the dialyzer 100 , and flows through the arterial pressure detection chamber 122 to the pump rotor 132 in the pump housing 130 . As previously described, the pump rotor 132 is operated and controlled by interfacing with the pump drive unit of the therapy module 220 . Rotation of the pump rotor 132 creates an increased pressure within the dialyzer 100 , which causes blood within the dialyzer 100 to be pushed through the interior space (or lumen) of each hollow fiber of the hollow fiber bundle 114 .

As blood flows through the dialyzer 100, the dialysate flows along the outer surfaces of the hollow fibers 114, for example, from the second end cap 140 of the dialyzer 100 to the first end of the dialyzer 100 within the spaces defined between the hollow fibers 114. cover 120. Dialysis is performed across a semi-permeable fiber membrane, the dialysate flows (in a countercurrent direction) in the space around the fibers 114, and waste products from the blood diffuse across the semi-permeable fiber membranes of the hollow fibers 114 into the dialysate. Blood then flows through the venous pressure sensing chamber 142 in the second end cap 140 , still within the hollow fiber 114 . Blood exits dialyzer 100 via venous line 104 , which returns dialyzed or filtered blood to patient 10 . Spent dialysate flows to first end cap 120 and exits dialyzer 100 via a spent dialysate line into a spent dialysate conduit of therapy module 220 . This hemodialysis process continues until the treatment is complete.

Throughout the hemodialysis treatment, the sensors 226, 228 monitor tension along the blood lines 102, 104, respectively, and transmit signals indicative of the detected tension along the blood lines 102, 104 to the blood treatment machine console 210 in real time . For example, during a hemodialysis treatment, the sensors 226, 228 monitor the amount of strain along the blood lines 102, 104, respectively, and transmit a signal indicative of the amount of strain detected along the blood lines 102, 104 to the blood treatment in real time. Machine console 210. For example, if a patient 10 undergoing hemodialysis treatment moves his or her arm 12 away from therapy module 220, the strain along arterial line 102 and venous line 104 attached to the patient may increase due to the movement. Additionally, if arterial line 102 or venous line 104 becomes obstructed or snags on surrounding objects, strain in arterial line 102 and venous line 104 may increase. To detect these increases in strain along the blood lines 102, 104, the sensors 226, 228 continuously monitor the strain along the blood lines 102, 104 throughout the hemodialysis treatment and will indicate the strain along the corresponding blood lines 102, 104. The signal of the strain of 104 is transmitted to the blood treatment machine console 210 in real time.

Signals transmitted by sensors 226 , 228 to blood treatment machine console 210 may be indicative of the magnitude and direction of strain detected along blood lines 102 , 104 . For example, arterial line sensor 226 is configured to detect strain along the X-, Y-, and Z-axes of arterial line 102 and may transmit ε _x , ε _y , and ε _z strain components to blood therapy machine console 210, which Indicates the amount of strain experienced by arterial line 102 along each of said axes. Similarly, venous line sensor 228 is configured to detect strain along the X-, Y-, and Z-axes of venous line 104 and transmit ε _x , ε _y , and ε _z strain components to blood therapy machine console 210, which Indicates the amount of strain experienced by the venous line 104 along each of said axes.

Based on signals received from one or more sensors 226 , 228 , blood therapy machine console 210 moves therapy module 220 to prevent disconnection of blood lines 102 , 104 from dialyzer 100 or removal of needles 134 , 136 from patient 10 . For example, in response to detecting increased strain along blood lines 102, 104 based on signals received from sensors 226, 228, blood therapy machine console 210 controls arm 280 to reposition module 220 to relieve blood lines 102, 104. strain in. For example, based on the magnitude and direction of strain along arterial line 102 detected by arterial line sensor 226, control unit 240 of blood treatment machine 200 determines the direction and distance that therapy module 220 must be moved in order to move the strain along arterial line 102 The strain is reduced by an amount sufficient to prevent disconnection of arterial line 102 from dialyzer 100 or removal of needle 134 from patient 10 . Similarly, based on the magnitude and direction of the strain detected by the venous line sensor 228 along the venous line 104, the control unit 240 of the blood therapy machine console 210 determines the direction and distance that the therapy module 220 must be moved in order to move the strain along the venous line 104. The strain reduction at 104 is sufficient to prevent disconnection of IV line 104 from dialyzer 100 or removal of needle 136 from patient 10 .

In some embodiments, the control module of the blood treatment machine console 210 determines whether the strain detected by the sensors 226, 228 along the one or more blood lines 102, 104 exceeds a threshold strain. In response to determining that the strain detected by sensors 226, 228 along one or more blood lines 102, 104 exceeds a threshold strain, blood therapy machine console 210 may determine the direction and distance that therapy module 220 must be moved to move the The strain reduction of blood lines 102 , 104 is sufficient to prevent disconnection of blood lines 102 , 104 from dialyzer 100 or removal of needles 134 , 136 from patient 10 .

In some embodiments, after receiving a first signal from the sensors 226, 228 indicative of strain along the one or more blood lines 102, 104 and before moving the arm 280 to relieve the detected strain, the blood therapy machine The console 210 receives second signals indicative of updated strain measurements along the respective blood lines 102 , 104 from the respective sensors 226 , 228 . In response to receiving the second signal from the sensors 226, 228, the blood treatment machine console 210 determines whether further action is required.

For example, in some embodiments, if the first signal received by the blood therapy machine console 210 from the arterial line sensor 226 is indicative of strain along the arterial line 102 and the signal received from the arterial line sensor 226 prior to the movement of the arm 280 The second signal indicates that the strain along the arterial line 102 has increased, and the blood treatment machine console 210 will determine whether the strain along the arterial line 102 has increased beyond a threshold amount. In response to detecting that the strain along the arterial line 102 has increased by more than a threshold amount in the time between receipt of the first and second signals (i.e., prior to moving the arm 280), the blood treatment machine console 210 recalculates that the treatment module 220 must The distance and direction of movement to reduce the strain along the arterial line 102 indicated in the second signal by an amount sufficient to prevent disconnection of the blood lines 102 , 104 from the dialyzer 100 or removal of the needles 134 , 136 from the patient 10 .

Similarly, in some embodiments, if a first signal received by blood therapy machine console 210 from venous line sensor 228 indicates strain along venous line 104 and is received from venous line sensor 228 prior to movement of arm 280 If a second signal is received indicating that the strain along the venous line 104 has increased, the blood therapy machine console 210 will determine whether the strain along the venous line 104 has increased beyond a threshold amount. In response to detecting that the strain along the venous line 104 has increased by more than a threshold amount in the time between receiving the first and second signals (i.e., before moving the arm 280), the blood therapy machine console 210 recalculates the amount of time the therapy module 220 must The distance and direction of movement to reduce the strain indicated in the second signal along the venous line 104 by an amount sufficient to prevent disconnection of the blood lines 102 , 104 from the dialyzer 100 or removal of the needles 134 , 136 from the patient 10 .

In some embodiments, if a first signal received by blood therapy machine console 210 from arterial line sensor 226 indicates strain along arterial line 102 and a second signal received from arterial line sensor 226 prior to movement of arm 280 signal indicating that there is no longer strain along the arterial line 102 or that the strain along the arterial line 102 has decreased by more than a threshold amount, the second signal may indicate that the arterial line 102 has been disconnected from the dialyzer 100 or coupled to the needle 134 of the arterial line 102 Has been removed from patient 10. For example, if the arterial line 102 has been disconnected from the dialyzer 100 or the needle 134 coupling the arterial line 102 to the patient 10 has been removed from the patient 10 (e.g., due to high strain levels along the arterial line 102), then any previously detected The strain along the arterial line will be relieved by disconnection or removal. Accordingly, upon comparing the first and second signals received by the blood therapy machine console 210 from the arterial line sensor 226, upon determining that the previously detected strain along the arterial line 102 has been removed or reduced prior to moving the therapy module 220, The blood therapy machine console 210 then controls the pump drive unit of the therapy module 220 coupled to the pump rotor 132 to stop pumping to stop or pause the hemodialysis therapy. In some embodiments, in response to determining, based on the second signal, that strain along arterial line 102 has been removed or reduced prior to moving therapy module 220, blood therapy machine console 210 will indicate disconnection of arterial line 102 or removal of needle 134 The alert is transmitted to the operator of the blood therapy machine 200. In some embodiments, the signal indicative of strain reduction along the arterial line 102 prior to movement of the movable arm 280 may be correlated with other data sources, such as pumping pressure characteristics, to identify potential disconnection of the arterial line 102 from the dialyzer 100. Needle 134 opened or coupled to arterial line 102 is removed from patient 10 .

Similarly, if the first signal received by the blood treatment machine console 210 from the venous line sensor 228 indicates a strain along the venous line 104 and is received by the blood treatment machine console 210 from the venous line sensor 228 prior to the movement of the arm 280 A second signal is received indicating that there is no longer strain along the venous line 104 or that the strain along the venous line 104 has decreased by more than a threshold amount, then it is determined that the venous line 104 has been disconnected from the dialyzer 100, or coupled to the venous line 104 The needle 136 has been removed from the patient 10. Accordingly, upon comparing the first and second signals received by the blood therapy machine console 210 from the venous line sensor 228, upon determining that the previously detected strain along the venous line 104 has been removed or reduced prior to moving the therapy module 220, The blood therapy machine console 210 then controls the pump drive unit of the therapy module 220 coupled to the pump rotor 132 to stop pumping to stop or pause the hemodialysis therapy. In some embodiments, the blood therapy machine console 210 will indicate disconnection of the venous line 104 or removal of the needle 136 in response to determining that the strain along the venous line 104 has been removed or reduced prior to moving the therapy module 220 based on the second signal. The alert is transmitted to the operator of the blood therapy machine 200. In some embodiments, the signal indicative of strain reduction along the venous line 104 prior to movement of the arm 280 may be correlated with other data sources such as pumping pressure characteristics to identify potential disconnection of the venous line 104 from the dialyzer 100 Or needle 136 coupled to intravenous line 104 is removed from patient 10 .

Once the direction and distance in which therapy module 220 must be moved is determined to reduce the strain along blood lines 102, 104 by an amount sufficient to prevent disconnection of blood lines 102, 104 from dialyzer 100 or removal of needles 134, 136 from patient 10, the blood The treatment machine console 210 moves the treatment module 220 the determined distance in the determined direction with respect to the control arm 280 . For example, extending the arm 280 to move the therapy module 220 in a direction that strains along the blood lines 102, 104, by reducing the distance between the patient end of the blood lines 102, 104 and the therapy module 220, in the blood line 102 Relaxation is created in the blood lines 102, 104, thereby reducing the strain in the blood lines 102, 104. In some embodiments, the blood therapy machine console 210 controls the arm 280 to continue to move the therapy module 220 in the direction of the detected strain until the blood therapy machine console 210 receives from the sensors 226, 228 an indication of the detected strain along the A signal that the blood line 102, 104 strain is below a threshold level of strain, or until the arm 280 is fully extended.

As previously mentioned, the arm 280 has three degrees of movement, which allow the therapy module to move along various axes of strain detected by the sensors 226, 228 (e.g., X, Y, and Z planes for the arterial line 102 and X planes for the venous line 104). , Y and Z planes) movement. By allowing movement in three dimensions, arm 280 can precisely position therapy module 220 to relieve strain along blood lines 102 , 104 . For example, based on receiving signals from arterial line sensor 226 indicative of strain components ( _εx , _εy , and _εz ) along the X, Y, and Z axes of arterial line 102, arm 280 may move Therapy module 220 moves an appropriate distance to relieve the strain detected by arterial line sensor 226 along arterial line 102 . Similarly, in response to signals received from venous line sensor 228 indicative of strain components (ε _x , ε _y , and ε _z ) along the X, Y, and Z axes of venous line 104 , arm 280 may move along each This axis moves therapy module 220 an appropriate distance to relieve the strain detected by venous line sensor 228 along venous line 104 .

In addition to controlling the movement of arm 280 to reposition the distance and direction of therapy block 220 in response to strain detection, blood therapy machine console 210 may also control the speed at which arm 280 moves to reposition therapy block 220 . For example, in response to receiving a signal from one or more sensors 226, 228 indicative of strain along one or more blood lines 102, 104, blood therapy machine console 210 may determine an appropriate velocity based on the detected strain to The arm 280 is moved. In some embodiments, the blood treatment machine console 210 controls the movement of the arm 280 at a speed proportional to the amount of strain detected such that the arm 280 moves at a higher speed in response to an increase in the level of strain along the blood lines 102, 104. speed to move. For example, a high level of strain along the blood lines 102 , 104 may entail a high risk of disconnection of the corresponding blood lines 102 , 104 or dislodgement of the needles 134 , 136 from the patient 10 . To combat the increased risk of dislodgement and disconnection caused by high levels of strain along the blood lines 102, 104, the arm 280 moves faster each time along the blood lines 102 compared to the speed at which the arm 280 moves when lower levels of strain are detected. , 104 detects a high level of strain, the arm 280 can be controlled to move at an increased speed.

After moving the arm 280 in a direction and distance determined by the blood treatment machine console 210 , the blood treatment machine console 210 receives another signal from the respective sensor 226 , 228 . In response to receiving the second signal from the sensors 226, 228, the blood therapy machine console 210 determines whether further action is required to reduce the strain along the one or more blood lines 102, 104 sufficiently to prevent the blood lines 102, 104 from being associated with the dialysis The amount by which the device 100 is disconnected or the needles 134, 136 are removed from the patient 10. For example, if the second signal received from each sensor 226, 228 indicates no strain along either blood line 102, 104 (or indicates that the strain along the blood line 102, 104 is below a threshold level), the blood therapy machine controls The stage 210 stops the movement of the arm 280 . Additionally, if the second signal received from each sensor 226, 228 indicates that the strain along the blood line 102, 104 is less than a threshold amount of strain without causing the blood line 102, 104 to disconnect from the dialyzer 100 or the needle 134, 136 risk of removal from the patient 10, the blood treatment machine console 210 stops the movement of the arm 280.

However, if the second signal received by the blood treatment machine console 210 from either sensor 226, 228 indicates that there is still strain along one or more blood lines 102, 104 above a threshold 102 , 104 disconnected from the dialyzer 100 and/or the needles 134 , 136 are dislodged from the patient 10 , the blood therapy machine console 210 determines the strain change along the blood lines 102 , 104 . For example, blood therapy machine console 210 may combine the strain indicated in a first signal received from sensors 226, 228 before moving therapy block 220 with a second signal received from sensors 226, 228 after moving therapy block 220 The indicated strains are compared to determine the amount of strain reduced along the blood lines 102 , 104 due to moving the therapy module 220 .

In some embodiments, a change in strain along the blood lines 102 , 104 resulting from movement of the therapy module 220 below a threshold change amount indicates an obstruction along the respective blood line 102 , 104 . For example, if one of the blood lines 102, 104 is obstructed or otherwise hooked on an object near the blood therapy machine 200, such as a chair on which the patient 10 is sitting, the movement of the therapy module 220 is reduced along the obstructed The strain aspect of the pipeline may be ineffective. As such, movement of the therapy module 220 via the arm 280 may result in a change in strain along the obstructed blood line 102, 104 that is less than a threshold change. Accordingly, upon determining, based on comparing the first signal and the second signal, that the strain along one or more blood lines 102, 104 has decreased to less than a threshold amount after repositioning the treatment module 220, the blood treatment machine console 210 will indicate a corresponding An alert of an obstruction in the blood lines 102 , 104 is transmitted to an operator of the blood therapy machine 200 . For example, an alert message may be displayed on the user interface 212 of the blood therapy machine 200 in response to detecting a potential obstruction along the blood lines 102 , 104 . In some embodiments, blood treatment machine 200 generates an audible signal from a speaker of blood treatment machine 200 in response to detecting a potential obstruction along blood lines 102 , 104 . In some implementations, the alert message is transmitted to one or more computing devices (eg, mobile phone, tablet, laptop, etc.) of patient 10 or another user associated with blood treatment machine 200 . In some embodiments, in response to determining that the strain along one or more blood lines 102 , 104 has decreased to less than a threshold amount after repositioning therapy module 220 , blood therapy machine console 210 controls the therapy module coupled to pump rotor 132 . The pump of module 220 drives the unit to stop pumping in order to stop the hemodialysis treatment.

Sensors 226, 228 continue to monitor strain along blood lines 102, 104 and transmit signals to blood treatment machine console 210 in real time throughout the hemodialysis treatment. The blood therapy machine console 210 repositions the therapy module 220 in real time throughout the hemodialysis treatment in response to strain along the blood lines 102, 104 detected by the sensors 226, 228.

In some embodiments, once the hemodialysis treatment is complete, the blood treatment machine console 210 receives a signal indicating that the treatment is complete, and in response, the control arm 280 moves the blood treatment module to a predetermined position. For example, upon receiving a signal from one or more sensors of therapy module 220 indicating that the blood therapy is complete, controller 240 may transmit a signal to blood therapy machine console 210 indicating that the therapy is complete. In some embodiments, patient 10 or another user of blood treatment machine 200 uses user interface 212 of blood treatment machine 200 to select a control indicating completion of treatment, and in response to the selection, controller 240 transmits a signal indicating completion of treatment to the blood treatment machine console 210 . In some embodiments, an operator of blood therapy machine 200 may use controller 240 to adjust the position of therapy module 220 after hemodialysis therapy has been completed. For example, an operator of blood treatment machine 200 may use user interface 212 of blood treatment machine console 210 to position therapy module 220 in a "home position" after a hemodialysis treatment is complete. In some embodiments, an operator of blood therapy machine 200 may use user interface 212 of blood therapy machine console 210 to select an option to position therapy module 220 in close proximity to the patient after hemodialysis therapy has been completed so that Disconnection of blood lines 102, 104 from dialyzer 100 and patient 10 is facilitated.

While certain embodiments have been described above, other embodiments are possible.

For example, while arterial line sensor 226 and venous line sensor 228 have been described as being located on and coupled to therapy module 220 , other configurations of strain sensors may alternatively be provided. For example, FIG. 3 shows blood treatment system 3 in which arterial line sensor 326 is positioned along and in contact with arterial line 102 near the end of arterial line 102 that is coupled to needle 134 . For attaching the arterial line 102 to the patient 10 . Similar to arterial line sensor 226 of FIG. 1 , arterial line sensor 326 is configured to detect strain along arterial line 102 during hemodialysis treatment. Similarly, venous line sensor 328 of blood treatment system 3 is positioned along and in contact with venous line 104 near an end of venous line 104 coupled to needle 136 for attaching venous line 104 to patient 10 . Venous line sensor 328 is configured to detect strain along venous line 104 during hemodialysis treatment. By positioning the sensors 326 , 328 near the needles 134 , 136 connecting the blood lines 102 , 104 to the patient 10 , it is possible to more accurately detect motion along the blood lines 102 , 104 near the point of insertion of the needles 134 , 136 into the patient 10 . strain, which allows for improved detection and prevention of removal of the needles 134 , 136 from the patient 10 . Sensors 326, 328 may include any suitable type of sensor for detecting strain, including but not limited to strain gauges, resistors, load cells, and the like.

Sensors 326, 328 are communicatively coupled to blood treatment machine console 210 and transmit signals indicative of tension along blood lines 102, 104 to blood treatment machine console 210 in real time during treatment. In some embodiments, the sensors 326, 328 are wireless strain sensors that communicate signals indicative of strain along the blood lines 102, 104 using any suitable form of wireless communication, including but not limited to WiFi, Bluetooth, and the like. Arterial line sensor 326 and venous line sensor 328 may be positioned anywhere between therapy module 220 and needles 134, 136 along arterial line 102 and venous line 104, respectively, by wirelessly communicating with blood therapy machine console 210 to transmit strain signals . In some embodiments, sensors 326 , 328 are wired to blood treatment machine console 210 and communicate signals to blood treatment machine console 210 through wiring between sensors 326 , 328 and blood treatment machine console 210 .

Although the blood therapy system has been described as including a single arterial line sensor and a single venous line sensor, other numbers of arterial line sensors and venous line sensors may be used to monitor tension along arterial line 102 and venous line 104 during hemodialysis treatment. . For example, FIG. 4 depicts a blood therapy system 4 including two arterial line sensors 226 , 326 and two venous line sensors 228 , 328 . As shown in FIG. 4 , first arterial line sensor 226 may be coupled to therapy module 220 . Second arterial line sensor 326 may be coupled to arterial line 102 near the end of arterial line 102 that is connected to needle 134 that attaches arterial line 102 to patient 10 . Similarly, first venous line sensor 228 may be coupled to therapy module 220 and contact venous line 104 . Second IV line sensor 328 may be coupled to IV line 104 near the end of IV line 104 that is connected to needle 136 that attaches IV line 104 to patient 10 .

Arterial line sensor 326 and venous line sensor 328 positioned along blood line 102 , 104 near the patient end of blood line 102 , 104 may be configured to indicate strain along blood line 102 , 104 as previously described. The signal is transmitted wirelessly to a wireless sensor of the blood treatment machine console 210 . In contrast, arterial line sensor 226 and venous line sensor 228 coupled to therapy module 220 may be wired to therapy module 220 and/or blood therapy machine console 210 and communicate with blood therapy machine console 210 via sensors 226, 228 A wired connection therebetween transmits signals indicative of strain along the blood lines 102 , 104 to the blood treatment machine console 210 . Alternatively, all strain sensors 226 , 228 , 326 , 328 may be wireless strain sensors configured to wirelessly transmit signals indicative of strain along blood lines 102 , 104 to blood therapy machine console 210 . In some embodiments, all strain sensors 226 , 228 , 326 , 328 are wired to therapy module 220 and/or blood therapy machine console 210 .

Although the arterial line sensor and the venous line sensor have been depicted in FIGS. lines 102, 104 to measure strain along the respective blood lines 102, 104. For example, the arterial line sensor and the venous line sensor may each be provided as wireless strain sensors embedded or otherwise fabricated into the blood lines 102, 104, respectively. When the blood lines 102, 104 are subjected to strain, the embedded strain sensor detects and measures the strain along the blood lines 102, 104 and wirelessly transmits the detected strain along the blood lines 102, 104 to the blood therapy machine console 210 . In some embodiments, the blood lines 102, 104 may each include an embedded conductive material that forms a strain gauge along the length of the respective blood line 102, 104, and based on measurements of the strain experienced by the conductive material, the The length of the blood lines 102, 104 detects strain. In some embodiments, a conductive coating or outer layer is applied along the length of each blood line 102, 104, and based on measurements of the strain experienced by the conductive coating or outer layer, the , The length of 104 detects strain.

Furthermore, although the blood treatment system has been described as including a strain sensor coupled to or embedded in the blood line 102, 104, the strain sensor of the blood treatment system may alternatively or additionally be positioned to contact Other parts of the blood therapy system. For example, as shown in FIG. 5 , blood treatment system 5 may include and be coupled to one or more joints positioned within and coupled to arm 280 of therapy module 220 and configured to measure pressure applied to one or more joints. Strain sensors 526 , 528 of the strain of the blood lines 102 , 104 .

As shown in FIG. 5 , and as previously described, the blood lines 102 , 104 of the blood treatment system 5 are each attached to a dialyzer 100 which is attached to a treatment module 220 which is coupled to an arm 280 . In this way, when a strain occurs along the blood lines 102, 104 (e.g., due to movement of the arm 12 of the patient 10), at least a portion of the force causing the strain along the blood lines 102, 104 is transferred to the dialyzer 100 and Therapy module 220 , dialyzer 100 and therapy module 220 then transfer the at least a portion of the force to arm 280 . Strain sensors 526 , 528 are configured to detect the force applied to the joints of arm 280 and to transmit a signal indicative of the force applied to the joints of arm 280 to blood treatment machine console 210 . The blood therapy machine console 210 may apply a predetermined relationship between the strain along the blood lines 102, 104 and the force transferred to the joint of the arm 280 to the signals received from the sensors 256, 258 in order to Strain along the blood lines 102, 104 is determined. Based on this determination of the strain along the blood lines 102, 104, the blood therapy machine console 210 can determine the direction and distance the therapy module 220 must move in order to reduce the detected strain along the blood lines 102, 104 sufficiently to prevent The amount by which the blood lines 102, 104 are disconnected from the dialyzer 100 or the needles 134, 136 are removed from the patient 10, as described above.

While FIG. 5 depicts two strain sensors 526, 528 coupled to the joints of the arm 280 of the blood treatment machine 200, other numbers of strain sensors coupled to the arm 280 may also be used. For example, system 5 may include strain sensors in each joint of arm 280 such that the number of strain sensors is equal to the total number of joints in arm 280 . In some embodiments, blood treatment system 5 may include strain sensors in contact with blood lines 102 , 104 , and strain sensors 256 , 258 coupled to joints of arm 280 .

Although the sensors used to detect tension along the blood lines 102, 104 have been described as strain sensors, other types of sensors may be used to detect tension along the blood lines 102, 104 of the blood treatment system. 6-9 depict schematic diagrams of alternative blood therapy systems having one or more sensors for detecting tension along one or more blood lines.

In some embodiments, rather than using strain sensors to detect tension in the blood lines 102, 104, a blood therapy system may include a position configured to detect a portion of the blood lines 102, 104 in order to determine the tension along the blood lines 102, 104. One or more sensors of tension. For example, as shown in FIG. 6 , blood therapy system 6 may include a pair of sensors 626, 628 attached to blood lines 102, 104 configured to detect Location. Sensors 626, 628 may be any suitable type of sensor for detecting position and/or movement of blood lines 102, 104, including but not limited to accelerometers (e.g., 3D accelerometers), gyroscopic sensors, ultrasonic sensors, proximity sensors , optical sensors, magnetometers, global positioning sensors, radio triangulation sensors (eg as in a car's keyless entry system or based on WiFi, Bluetooth or similar technologies) and the like. The sensors 626, 628 are communicatively coupled to the blood treatment machine console 210 and are configured to indicate the position, orientation and/or movement of portions of the blood lines 102, 104 proximate to the sensors 626, 628 during a hemodialysis treatment. The signal is transmitted to the blood treatment machine console 210 in real time. In some embodiments, the sensors 626, 628 are configured to detect the position in three-dimensional space of the portion of the blood line 102, 104 coupled to the sensor 626, 628 and will indicate the position of the portion of the blood line 102, 104 coupled to the sensor 626, 628 The coordinates of the position of the part in three-dimensional space are transmitted to the blood treatment machine console 210.

For example, first sensor 626 may be an accelerometer attached to arterial line 102 near the end of arterial line 102 that is coupled to needle 134 that connects arterial line 102 to patient 10 . Second sensor 628 may be an accelerometer attached to IV line 104 near the end of IV line 104 that is coupled to needle 136 that connects IV line 104 to patient 10 . Sensors 626, 628 are configured to detect movement of portions of arterial line 102 and venous line 104 in the vicinity of sensors 626, 628, respectively. For example, if the patient 10 moves his arm 12 , the ends of the blood lines 102 , 104 near the sensors 626 , 628 will move accordingly, and this movement of the blood lines 102 , 104 will be detected by the sensors 626 , 628 . In some embodiments, the sensors 626 , 682 are configured to detect the speed and direction of movement of the portion of the blood line 102 , 104 in the vicinity of the sensors 626 , 628 .

During hemodialysis, the sensors 626, 628 transmit signals to the blood treatment machine console 210 in real time indicating the position and speed and direction of movement of the portion of the blood line 102, 104 near the sensors 626, 628. In response, blood therapy machine console 210 may determine the amount of strain along each blood line 102 , 104 based on signals received from sensors 626 , 286 indicative of the position and movement of blood lines 102 , 104 . For example, based on the location of the portion of blood line 102, 104 near sensor 626, 628 relative to the location of therapy module 220, the distance between the portion of blood line 102, 104 near sensor 626, 628 and therapy module 220 may be determined. distance. In some embodiments, blood therapy machine console 210 determines the position of therapy module 220 based on one or more position sensors 640 , 642 coupled to therapy module 220 and/or arm 280 . The blood The treatment machine console 210 may determine the amount of strain occurring along the blood lines 102 , 104 .

Based on this determination of the strain along the blood lines 102, 104, the blood therapy machine console 210 can determine the distance and direction the therapy module 220 must move in order to reduce the detected strain along the blood lines 102, 104 sufficiently to prevent The amount by which the blood lines 102, 104 are disconnected from the dialyzer 100 or the needles 134, 136 are removed from the patient 10, as described above. In some embodiments, in response to detecting movement of portions of the blood lines 102, 104 in the vicinity of the sensors 626, 628, the blood therapy machine console 210 automatically controls the arm 280 to direct the therapy module 220 toward the end of the blood lines 102, 104. The detection position of the portion in the vicinity of the sensors 626, 628 moves to create slack in the blood lines 102, 104.

In some embodiments, the risk of blood lines 102 , 104 disconnecting from dialyzer 100 or needles 134 , 136 being dislodged from patient 10 is determined based on the detected distance between position sensors 626 , 628 and the location of therapy module 220 , without calculating the strain along the blood lines 102,104. For example, based on signals received from position sensors 626, 628, 640, 642, blood treatment machine console 210 may determine the position of blood lines 102, 104 in one or more planes during treatment in real time, as previously described. The distance between the portion near the sensors 626 , 628 and the therapy module 220 . In some embodiments, if the blood therapy machine console 210 determines that the distance between the portion of the blood line 102, 104 near the sensor 626, 628 and the therapy module 220 exceeds the risk of removal or disconnection of the blood line 102, 104 Increasing the associated threshold distance, the blood therapy machine console 210 automatically controls the arm 280 to move the therapy module 220 toward the detected position of the portion of the blood line 102 , 104 near the sensor 626 , 628 . For example, the blood therapy machine console 210 may control the arm 280 to move the therapy module 220 toward the detection position of the portion of the blood line 102, 104 near the sensor 626, 628 until the blood line 102, 104 is near the sensor 626, 628. The distance between the portion of and the therapeutic module 220 is less than the threshold distance.

In some embodiments, based on the signals received from the sensors 626 , 628 , the blood therapy machine console 210 can predict future movement of portions of the blood lines 102 , 104 near the sensors 626 , 628 . Based on this predicted movement, blood treatment machine console 210 may control arm 280 to move treatment module 220 in a direction that counteracts any increased strain that may be caused by the predicted movement.

Although FIG. 6 depicts two position sensors 626 , 628 coupled to blood lines 102 , 104 , other numbers of position sensors 626 , 628 may be used to determine the position, orientation, and/or movement of blood lines 102 , 104 . Furthermore, while FIG. 6 depicts the position sensors 626, 628 as being coupled to portions of the blood lines 102, 104 proximate the patient end of the blood lines 102, 104, the position sensors may be positioned at other points along the blood lines 102, 104.

In some embodiments, rather than coupling strain sensors to the blood lines 102, 104, the blood treatment system includes a position sensor attached to the arm 12 of the patient 10 configured to track the position of the patient's arm 12 , and the tension along the blood lines 102, 104 is determined based on the position of the patient's arm 12. For example, as shown in FIG. 7 , patient 10 may wear or otherwise attach wearable positioning device 726 to his arm 12 during a hemodialysis treatment performed by blood treatment system 7 . The wearable positioning device 726 may be any suitable type of sensor for detecting the position and/or movement of the patient's arm 12, including but not limited to accelerometers (e.g., 3D accelerometers), gyroscopic sensors, ultrasonic sensors, proximity sensors , optical sensors, magnetometers, global positioning sensors, radio triangulation sensors (eg, as in a car's keyless entry system or based on WiFi, Bluetooth, or similar technologies), fitness trackers, smart watches, and the like.

The wearable positioning device 726 is configured to wirelessly transmit signals indicative of the position, orientation and/or movement of the patient's arm 12 to the hemotherapy machine console 210 in real time during a hemodialysis treatment. For example, in some embodiments, wearable positioning device 726 is configured to wirelessly transmit signals indicative of the position, orientation, and/or movement of patient's arm 12 to blood treatment machine console 210 using near field communication. In some embodiments, the wearable positioning device 726 is configured to detect the position in three-dimensional space of the portion of the patient's arm 12 proximate to the wearable positioning device 726 (e.g., the patient's wrist) and will indicate the position of the patient's arm 12. The coordinates of the position in three-dimensional space of the portion proximate to the wearable positioning device 726 are transmitted to the blood treatment machine console 210 in real time.

Based on signals received from wearable positioning device 726 , blood treatment machine console 210 may detect or predict tension along blood lines 102 , 104 . For example, once the blood lines 102, 104 are attached to the therapy block 220 and the patient's arm 12 (via the needles 134, 136), movement of the patient's arm 12 away from the therapy block 220 may cause increased tension along the blood lines 102, 104 . In this way, by tracking the position of the patient's arm 12 during hemodialysis using the wearable positioning device 726 on the patient's wrist, tension along the blood lines 102, 104 can be detected or predicted.

For example, based on the position of the portion of the patient's arm 12 proximate to the wearable positioning device 726 relative to the position of the therapy module 220 and based on a known or approximate relationship between the wearable positioning device 726 and the patient end of each blood line 102 , 104 Distance, the distance between the patient end of each blood line 102 , 104 and the therapy module 220 may be determined from signals received from the wearable positioning device 726 . As previously described, blood therapy machine console 210 may determine the position of therapy module 220 based on one or more position sensors 740 , 742 coupled to therapy module 220 and/or arm 280 . Based on the determined distance between the patient end of each blood line 102, 104 and the treatment module 220 and the predetermined length of the blood line 102, 104 between the patient end of the blood line 102, 104 and the treatment module 220, the blood treatment machine The console 210 can determine the amount of strain occurring along the blood lines 102 , 104 .

Based on this determination of the strain along the blood lines 102, 104, the blood treatment machine console 210 can determine the distance and direction that the treatment module 220 must be moved in order to reduce the strain along the blood lines 102, 104 sufficiently to prevent the blood line 102 from , 104 is disconnected from the dialyzer 100 or the amount by which the needles 134, 136 are removed from the patient 10, as described above. In some embodiments, hemotherapy machine console 210 automatically controls arm 280 in response to detecting that patient 10 has removed his arm 12 from therapy module 220 based on signals received from wearable positioning device 726 during a hemodialysis treatment. to move the therapy module 220 toward the patient 10 (eg, toward the detection position of the wearable positioning device 726 ) to create slack in the blood lines 102 , 104 .

In some embodiments, the risk of blood lines 102 , 104 becoming disconnected from dialyzer 100 or needles 134 , 136 being dislodged from patient 10 is determined based on the detected distance between wearable positioning device 726 and the location of therapy module 220 , without calculating the strain along the blood lines 102,104. For example, based on the known or approximate distance between the wearable positioning device 726 and the patient end of each blood line 102, 104, signals received from the wearable positioning device 726, and signals received from the position sensors 740, 742, as previously described. Based on the received signal, the blood treatment machine console 210 can determine the distance in one or more planes between the patient end of each blood line 102 , 104 and the treatment module 220 in real time during treatment. In some embodiments, if the blood therapy machine console 210 determines that the distance between the patient end of each blood line 102, 104 and the therapy module 220 exceeds a threshold associated with an increased risk of dislodgement or disconnection of the blood line 102, 104 distance, the blood treatment machine console 210 automatically controls the arm 280 to move the treatment module 220 toward the detection position of the wearable positioning device 726 . For example, blood therapy machine console 210 may control arm 280 to move therapy module 220 toward the detection position of wearable positioning device 726 until the patient end of each blood line 102, 104 (as determined based on the position of wearable positioning device 726). determined) from the therapy module 220 is less than the threshold distance.

In some embodiments, based on the signal received from the wearable positioning device 726 and based on the known or approximate distance between the wearable positioning device 726 and the patient end of each blood line 102 , 104 , the blood therapy machine console 210 may Future movement of the patient end of each blood line 102, 104 is predicted. Based on this predicted movement, blood treatment machine console 210 may control arm 280 to move treatment module 220 in a direction that counteracts any increased strain that may be caused by the predicted movement.

In some implementations, image sensors may be used to determine or predict tension along the blood lines 102, 104 of the blood treatment system. For example, as shown in FIG. 8 , in some embodiments, blood treatment system 8 includes an image sensor 826 that may be used to track a portion of a patient's arm 12 in order to detect or predict tension along blood lines 102 , 104 . As shown in FIG. 8 , blood treatment system 8 includes image sensor 826 positioned on blood treatment machine console 210 and directed toward arm 12 of patient 10 . Furthermore, a passive device 830 for reflecting light is positioned on the arm 12 of the patient 10 . Passive device 830 may include any suitable device or material that reflects infrared light, including but not limited to reflective tape, retroreflectors, and the like. For example, passive device 830 may include reflective tape for taping and securing needles 134 , 136 to arm 12 of patient 10 . Image sensor 826 may include any acceptable image sensor configured to detect reflected infrared light, including but not limited to infrared sensors, digital cameras, thermal imaging cameras, video cameras, camcorders, and the like.

Image sensor 826 tracks infrared light reflected by passive device 830 positioned on patient's arm 12 during hemodialysis treatment. Image sensor 826 is configured to transmit a signal indicative of the pattern of light reflected by passive device 830 and detected by image sensor 826 to blood treatment machine console 210 in real time via a wired or wireless connection. Based on the pattern of light reflected from passive device 830 detected by image sensor 826 , blood therapy machine console 210 may determine the position of the portion of patient's arm 12 proximate to passive device 830 .

By tracking the position of the patient's arm 12 relative to the position of the therapy module 220 during a hemodialysis treatment using an image sensor 826 that tracks the reflected light pattern produced by the passive device 830 on the patient's arm 12 , it is possible to detect 102, 104 strain. For example, based on the location of the portion of the patient's arm 12 near the passive device 830 relative to the location of the therapy module 220, and based on the known or approximate distances between the passive device 830 and the patient end of each blood line 102, 104, The distance between the patient end of each blood line 102, 104 and the therapy module 220 may be determined. As previously described, blood therapy machine console 210 may determine the position of therapy module 220 based on one or more position sensors 840 , 842 coupled to therapy module 220 and/or arm 280 . Based on the determined distance between the patient end of each blood line 102, 104 and the treatment module 220 and the predetermined length of the blood line 102, 104 between the patient end of the blood line 102, 104 and the treatment module 220, the blood treatment The machine console 210 can determine the amount of strain occurring along the blood lines 102 , 104 .

Based on this determination of the strain along the blood lines 102, 104, the blood therapy machine console 210 can determine the distance and direction the therapy module 220 must move in order to reduce the detected strain along the blood lines 102, 104 sufficiently to prevent The amount by which the blood lines 102, 104 are disconnected from the dialyzer 100 or the needles 134, 136 are removed from the patient 10, as described above. In some embodiments, in response to detecting based on signals from image sensor 826 that patient 10 has removed his arm 12 from therapy module 220 during a hemodialysis treatment, blood therapy machine console 210 automatically controls arm 280 to move therapy module 220 is moved toward the patient's arm 12 (eg, toward the detection position of passive device 830 ) to create slack in blood lines 102 , 104 .

In some embodiments, the risk of blood lines 102 , 104 disconnecting from dialyzer 100 or needles 134 , 136 being dislodged from patient 10 is based on the detected distance between the patient end of blood lines 102 , 104 and the location of therapy module 220 . The distance is determined without detecting the strain along the blood lines 102,104. For example, based on the known or approximate distance between the passive device 830 and the patient end of each blood line 102, 104, the signal from the image sensor 826 indicative of the position of the passive device 830, and the signal from the position sensor 840 as previously described. , 842, the blood treatment machine console 210 may determine the distance in one or more planes between the patient end of the blood lines 102, 104 and the treatment module 220 in real time during the treatment. In some embodiments, if the blood therapy machine console 210 determines that the distance between the patient end of the blood line 102, 104 and the therapy module 220 exceeds a threshold associated with an increased risk of removal or disconnection of the blood line 102, 104 distance, the blood treatment machine console 210 automatically controls the arm 280 to move the treatment module 220 toward the detection position of the passive device 830 . For example, the blood therapy machine console 210 may control the arm 280 to move the therapy module 220 toward the detected position of the passive device 830, up to the patient end of each blood line 102, 104 (as determined based on the position of the passive device 830) The distance from the therapy module 220 is less than the threshold distance.

In some embodiments, based on the signals received from the image sensor 826 and based on the known or approximate distance between the passive device 830 and the patient end of each blood line 102, 104, the blood therapy machine console 210 can predict the Future movement of the patient end of the lines 102, 104. Based on this predicted movement, blood treatment machine console 210 may control arm 280 to move treatment module 220 in a direction that counteracts any increased strain that may be caused by the predicted movement.

Although FIG. 8 depicts passive device 830 as being positioned on arm 12 of patient 10, passive device 830 may alternatively or additionally be positioned on other surfaces. For example, in some embodiments, a passive device 830 such as a reflective material may be positioned on or embedded in a portion of each blood line 102, 104, and an image sensor 826 may be used to track the position of the blood lines 102, 104 to detect blood Tension in lines 102,104.

Although the passive device 830 has been described as a reflective material, in some embodiments the passive device is color keyed and the image sensor 826 is configured to detect and track the color of the passive device. For example, image sensor 826 may be configured to transmit a signal indicative of the position of passive device 830 detected by image sensor 826 based on the color of the passive device to blood therapy machine console 210 in real time via a wired or wireless connection.

Furthermore, while FIG. 8 depicts image sensor 826 as being located on blood treatment machine console 210 , image sensor 826 may be located on other parts of blood treatment system 8 as well. For example, in some embodiments, image sensor 826 is coupled to or integrated into therapy module 220 . In some embodiments, image sensor 826 is coupled to a chair in which patient 10 sits during treatment. Furthermore, while FIG. 8 depicts a single image sensor 826, other numbers of image sensors 826 may be used.

As shown in FIG. 9 , for example, blood treatment system 9 includes a device for tracking the position of one or more objects attached to or near blood treatment machine 200 in order to detect or predict tension along blood lines 102, 104. Image sensors 926,928. For example, image sensors 926, 928 may capture images of patient 10 and/or blood lines 102, 104 during a hemodialysis treatment and transmit the images to a computing device (eg, controller 240) of blood treatment machine console 210. The computing device of the blood therapy machine console 210 may process the images received from the image sensors 926, 928 using trained machine learning models to detect the patient 10 and/or the blood line based on the images captured by the image sensors 926, 928 102, 104 positions. Image sensors 926, 928 may include any acceptable image sensor configured to capture images, including but not limited to digital still cameras, video cameras, camcorders, and the like.

For example, as shown in FIG. 9 , image sensors 926 , 928 may be positioned on hemotherapy machine console 210 and configured to capture images of the patient's arm 12 throughout a hemodialysis treatment. The images of the patient's arm 12 captured by the image sensors 926, 928 are communicated in real time to the computing device of the blood therapy machine console 210 via a wired or wireless connection. The computing device of the blood treatment machine console 210 processes the images of the patient's arm 12 received from the image sensors 926, 928 using the trained machine learning model to determine the position of the patient's arm 12 in three-dimensional space. Based on determining the position of the detected portion of the patient's arm 12 relative to the position of the therapy module 220, and based on the known or approximate distance between the detected portion of the patient's arm 12 and the patient end of each blood line 102, 104 , the distance between the patient end of each blood line 102 , 104 and the therapy module 220 may be determined. As previously described, blood therapy machine console 210 may determine the position of therapy module 220 based on one or more position sensors 940 , 942 coupled to therapy module 220 and/or arm 280 . Based on the determined distance between the patient end of each blood line 102, 104 and the treatment module 220 and the predetermined length of the blood line 102, 104 between the patient end of the blood line 102, 104 and the treatment module 220, the blood treatment machine The console 210 can determine the amount of strain occurring along the blood lines 102 , 104 .

Based on this determination of the strain along the blood lines 102, 104, the blood therapy machine console 210 can determine the distance and direction that the therapy module 220 must move in order to reduce the detected strain along the blood lines 102, 104 sufficiently An amount that prevents disconnection of the blood lines 102, 104 from the dialyzer 100 or removal of the needles 134, 136 from the patient 10, as described above. In some embodiments, in response to detecting that the patient 10 has removed his arm 12 from the therapy module 220 based on signals from the image sensors 926, 928 during a hemodialysis treatment, the hemotherapy machine console 210 automatically controls the arm 280 to move the The therapy module 220 is moved toward the patient 10 (eg, toward the detection position of the patient's arm 12 ) to create slack in the blood lines 102 , 104 .

In some implementations, image sensors 926 , 928 may be used to track the position of blood lines 102 , 104 in order to determine tension along blood lines 102 , 104 . For example, image sensors 926, 928 may be positioned on blood treatment machine console 210 and configured to capture the end of each blood line 102, 104 coupled to needle 134, 136 (i.e., blood image of the "patient end" of the lines 102, 104). The images of the patient end of each blood line 102, 104 captured by the image sensors 926, 928 are communicated in real time to the computing device of the blood treatment machine console 210 via a wired or wireless connection. The computing device of the blood treatment machine console 210 processes images of the patient end of each blood line 102, 104 received from the image sensors 926, 928 using a trained machine learning model to determine the three-dimensional position in space. Based on determining the position of the patient end of each blood line 102 , 104 relative to the position of the treatment module 220 , and based on prior knowledge of the blood lines 102 , 104 between the patient end of the blood line 102 , 104 and the treatment module 220 , as previously described, Given the determined length, the blood treatment machine console 210 can determine the amount of strain occurring along the blood lines 102 , 104 .

Based on this determination of the strain along the blood lines 102, 104, the blood therapy machine console 210 can determine the distance and direction the therapy module 220 must move in order to reduce the detected strain along the blood lines 102, 104 sufficiently to prevent The amount by which the blood lines 102, 104 are disconnected from the dialyzer 100 or the needles 134, 136 are removed from the patient 10, as described above. In some embodiments, in response to determining, based on signals from image sensors 926, 928, that the patient end of blood line 102, 104 has been removed from therapy module 220, blood therapy machine console 210 automatically controls arm 280 to orient therapy module 220 toward The detection position of the patient end of the blood line 102 , 104 moves to create slack in the blood line 102 , 104 .

In some embodiments, the blood line 102 , 104 is determined to be disconnected from the dialyzer 100 or the needle 134 , 136 is removed from the patient 10 based on the distance detected between the patient end of the blood line 102 , 104 and the location of the therapy module 220 without calculating the strain along the blood lines 102, 104. For example, based on signals received from image sensors 926, 928 indicative of the location of the patient ends of blood lines 102, 104 and signals received from position sensors 940, 942, blood therapy machine console 210 may be used during treatment, as previously described. The distance in one or more planes between the patient end of the blood line 102 , 104 and the therapy module 220 is determined in real time during the process. In some embodiments, if the blood therapy machine console 210 determines that the distance between the patient end of the blood line 102, 104 and the therapy module 220 exceeds a threshold distance associated with an increased risk of removal or disconnection of the blood line 102, 104 , the blood therapy machine console 210 automatically controls the arm 280 to move the therapy module 220 toward the detection position of the patient end of the blood lines 102 , 104 . For example, the blood treatment machine console 210 may control the arm 280 to move the treatment module 220 toward the detected position of the patient end of the blood lines 102, 104 until the distance between the patient end of each blood line 102, 104 and the treatment module 220 is less than Threshold distance.

In some embodiments, based on signals received from image sensor 926 , blood therapy machine console 210 may predict future movement of the patient end of each blood line 102 , 104 . Based on this predicted movement, blood treatment machine console 210 may control arm 280 to move treatment module 220 in a direction that counteracts any increased strain that may be caused by the predicted movement.

Although FIG. 9 depicts image sensors 926 , 928 as being located on blood treatment machine console 210 , one or more of image sensors 926 , 928 may be located on other parts of blood treatment system 9 . For example, in some embodiments, one or more of image sensors 926 , 928 is coupled to or integrated into therapy module 220 . In some embodiments, one or more of the image sensors 926, 928 are coupled to a chair in which the patient 10 sits during the treatment. Furthermore, while FIG. 9 depicts two image sensors 926, 928, other numbers of image sensors 926, 928 may be used. Furthermore, while image sensors 926, 928 have been discussed as being configured to capture images of the patient's arm and the patient end of blood lines 102, 104, image sensors 926, 928 may additionally or alternatively capture or other nearby objects in order to determine the tension along the blood lines 102,104.

While the signals from the various sensors 226, 228, 326, 328, 526, 528, 626, 628, 726, 826, 926 described above have been described as being transmitted to and processed by the blood therapy machine console 210 to determine The tension of the blood lines 102, 104, but the electronics and/or control devices that receive and interpret the output signals from the sensors 226, 228, 326, 328, 526, 626, 628, 726, 826, 926 may alternatively or Additional located in therapy module 220, arm 280, and/or elsewhere.

In some embodiments, one or more of the aforementioned sensors 226, 228, 326, 328, 526, 528, 626, 628, 726, 826, 926 use any suitable form of wireless communication, including but not limited to WiFi , Bluetooth, near field communication, etc. to wirelessly communicate signals to blood treatment machine console 210, treatment module 220, arm 280, and/or wireless sensors elsewhere. In some embodiments, one or more of the aforementioned sensors 226 , 228 , 326 , 328 , 526 , 528 626 , 628 , 726 , 826 , 926 are wired to the blood therapy machine console 210 , therapy module 220 and arm 280 One or more of them, and communicate the signal to the blood treatment machine console 210, the treatment module 220, and/or the arm 280 through a wired connection.

In some embodiments, there are additionally or alternatively sensors located in arm 280 to determine the position, orientation, movement and/or rate of movement of therapy module 220 . Such sensors may be angle sensors, path sensors, range sensors, accelerometers, and/or other types of sensors, and may be used to improve the accuracy of positioning and moving therapy module 220, as described above. For example, during repositioning of therapy module 220 to prevent dislodgement of blood lines 102, 104 or disconnection of needles 134, 136, sensors located in arm 280 may indicate the position, orientation, movement and A signal of the velocity of movement and/or is transmitted to the blood treatment machine console 210 in real time to ensure accurate positioning of the treatment module 220 .

Although arm 280 is depicted in FIGS. 1, 3-9 as being coupled to and extending from the front portion of blood treatment machine console 210, arm 280 may be coupled to other portions of blood treatment machine console 210, such as blood The side of the treatment machine console 210 or the back of the blood treatment machine console 210 . Similarly, while arms 280 are described in FIGS. 1, 3-9 as being coupled to and extending from the back of therapy block 220, arms 280 may be coupled to other portions of therapy block 220, such as the sides of therapy block 220. .

Furthermore, while arm 280 is described as being able to move in three dimensions, arm 280 may have alternative designs that enable movement in a different number of dimensions. In this way, arm 280 may have a different number of degrees of freedom in its movement. For example, in some embodiments, arm 280 may be configured to move along a single plane. For example, arm 280 may be configured to extend outward from blood treatment machine console 210 and retract inward toward blood treatment machine console 210 in a single plane. In some embodiments, in response to detecting strain along the blood lines 102, 104, the blood treatment machine console 210 automatically controls the arm coupled to the therapy module 220 to move outward from the blood treatment machine console 210 along a single plane. extend.

Although the blood treatment systems discussed above have been described as including a dialyzer with an internal blood pump, the blood pump may alternatively or additionally be located external to the dialyzer. For example, in some embodiments, therapy module 220 includes a blood pump, such as a peristaltic pump, that interacts with arterial line 102 to pump blood through the dialyzer.

Although the blood treatment systems discussed above have been described as machines performing hemodialysis and/or hemodiafiltration, the concepts described herein may be applied to any of a variety of other types of blood treatment systems, including machines for performing hemofiltration , ultrafiltration, peritoneal dialysis, apheresis and extracorporeal circulation procedures.

A number of embodiments have been described. However, it should be understood that various modifications may be made without departing from the spirit and scope of the present disclosure. Accordingly, other implementations are within the scope of the following claims.

Claims (28)

1. A blood treatment system, comprising:

a blood treatment machine;

a dialyzer configured to be coupled to the blood treatment machine;

a blood line having a first end configured to connect to the dialyzer and a second end configured to connect to a needle for insertion into a patient; and

one or more sensors operable to transmit data related to tension along the blood line to the blood treatment machine,

wherein the blood treatment machine is configured to take action in response to data received from the one or more sensors.

2. The system of claim 1, wherein the blood treatment machine comprises:

a therapy module comprising structure for coupling with the dialyzer;

a blood treatment machine console configured to control the therapy module; and

an arm coupled to and extending between the therapy module and the blood treatment machine console, wherein the blood treatment machine console is configured to control movement of the arm to automatically reposition the therapy module in response to data received from the one or more sensors.

3. The system of claim 2, wherein the arm is configured to move the therapy module in a direction determined based on data related to tension along the blood line to prevent disconnection of the blood line from the dialyzer or dislodgement of the needle from the patient.

4. The system of claim 2 or 3, wherein the one or more sensors are configured to wirelessly transmit data related to tension along the blood line to the blood treatment machine console.

5. The system of any of claims 2-4, wherein the arm includes one or more adjustable joints by which the arm can be articulated to a plurality of different positions relative to the blood treatment machine console.

6. The system of any one of claims 1-5, wherein the one or more sensors are configured to detect strain along the blood line.

7. The system of claim 6, wherein:

the one or more sensors are attached to a therapy module of the blood therapy machine, and

each of the one or more sensors is in contact with the blood line.

8. The system of claim 7, wherein at least one sensor of the one or more sensors is coupled to the therapy module.

9. The system of claim 7 or 8, wherein at least one sensor of the one or more sensors is positioned along the blood line proximate a patient end of the blood line.

10. The system of any one of claims 6-9, wherein the one or more sensors are embedded within the blood line.

11. The system of any of claims 6-10, wherein at least one sensor of the one or more sensors is coupled to a joint of an arm extending from and coupled to a therapy module of the blood treatment machine.

12. The system of any of claims 1-11, wherein the one or more sensors are configured to detect a position of a portion of the blood line.

13. The system of claim 12, wherein the one or more sensors comprise one or more accelerometers coupled to the blood line.

14. The system of claim 12 or 13, wherein the one or more sensors comprise one or more image sensors configured to detect a position of the portion of the blood line.

15. The system of any of claims 1-14, wherein the one or more sensors are configured to detect a position of a patient connected to the blood line.

16. The system of claim 15, wherein the one or more sensors comprise an image sensor configured to detect light reflected by a reflective material.

17. The system of claim 16, further comprising a device comprising the reflective material, the device configured to be positioned on an arm of a patient proximate the blood line.

18. The system of any one of claims 15-17, wherein the one or more sensors include an image sensor configured to track movement of an arm of the patient.

19. A blood treatment machine, comprising:

a therapy module comprising a structure for coupling with a dialyzer,

a blood treatment machine console configured to control the therapy module; and

an arm coupled to and extending between the therapy module and the blood treatment machine console, wherein the blood treatment machine console is configured to control movement of the arm to automatically reposition the therapy module in response to data received from one or more sensors related to tension along a blood line coupled to the dialyzer.

20. The blood treatment machine of claim 19, wherein the arm comprises one or more adjustable joints by which the arm is adapted to articulate to a plurality of different positions relative to the blood treatment machine console.

21. The blood treatment machine of claim 19 or claim 20, wherein the data received from the one or more sensors comprises data relating to tension along a blood line coupled to the dialyzer and a needle inserted into the patient.

22. The blood treatment machine of claim 21, wherein the arm is configured to move the therapy module in a direction determined based on data related to tension along the blood line to prevent the blood line from disconnecting from the dialyzer or the needle from being removed from the patient.

23. The blood treatment machine of claim 21 or claim 22, wherein the data received from the one or more sensors comprises data relating to strain along the blood line.

24. The blood treatment machine of any one of claims 19-23, wherein the data received from the one or more sensors comprises data related to a position of a portion of a blood line coupled to the dialyzer.

25. The blood treatment machine of claim 24, wherein the data received from the one or more sensors comprises image data relating to a position of the portion of the blood line.

26. The blood treatment machine of any one of claims 19-25, wherein the data received from the one or more sensors comprises data related to a location of a patient coupled to a blood line connection of the dialyzer.

27. The blood treatment machine of claim 26, wherein the data received from the one or more sensors comprises image data indicative of light reflected by a reflective material.

28. The blood treatment machine of claim 26 or claim 27, wherein the data received from the one or more sensors comprises image data indicative of a position of an arm of the patient.

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